Functional Modeling for Monitoring of Robotic System

Figures & data

Table 1. Von Wright’s basic action types.

Change schema	Description
pTp	p happens
pTp	p remains
pTp	p disappears
pTp	p remains absent

Table 2. Intervention and omission action types.

Change schema	Description
pT[pIp]	let p happens
pT[pIp]	let p remains
pT[pIp]	let p disappears
pT[pIp]	let p remains absent
pT[pIp]	produce p
pT[pIp]	maintain p
pT[pIp]	destroy p
pT[pIp]	suppress p

Figure 1. Action phases.

Figure 2. Hierarchical means-end model of the robotic system.

Figure 3. Cascaded action phase diagram.

Figure 4. Three different types of activity: (a) sequential activity; (b) cyclical activity; (c) facilitating activity.

Figure 5. The robotic system and its functional block diagram.

Figure 6. The functional model of the robotic system.

Figure 7. The knowledge rulebase for monitoring of the robotic system.

Figure 8. The main rules and error rules for the robotic system.

Table 3. Simulated signals for testing monitoring system.

Robotarm	0: Waiting	1: Moving	2: Lifting
	3: Pushing	4: NotReady
Gripper	0: NotStart	1: Start	2: Moving
	3: Object	4: CTbegin	5: CTend
Fingers	0: Open	1: Closed
ConeyorBelt	0: Off	1: On
ObjectDetection	0: ObjectDetected	1: NoObject

Figure 9. Simulated signals for a successful execution of the pick-and-place task.

Figure 10. Simulated signals for detection of synchronization error and screen snapshot after test.

Figure 11. Simulated signals for the detections of conveyor belt error and the timeout error.

Simulated signals for the detections of conveyor belt error and the timeout error.